Automatic calibration of current regulator control compensation

Elevator – industrial lift truck – or stationary lift for vehicle – With monitoring – signalling – and indicating means – Monitors operational parameter

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187296, 318609, 364161, B66B 128, G05B 1136, G05B 1302

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active

058804153

ABSTRACT:
An elevator controller 7 is provided with logic 48 which automatically calculates a proportional gain (K.sub.P), an integral gain (K.sub.I), and an overall gain (Gc) for a current regulator/motor drive 20 by injecting a sinewave having a predetermined test frequency (F.sub.OL, F.sub.CL) into a reference current I.sub.qREF, measuring the open and closed loop transfer functions and adjusting K.sub.P and K.sub.I until the desired open and closed loop responses are achieved with Gc set based on F.sub.OL. First, with the test frequency at F.sub.OL, K.sub.I is set to zero and K.sub.P is varied until the open loop gain response at F.sub.OL is equal to one. Then, with the test frequency at F.sub.CL and K.sub.P set per the previous step, K.sub.I is varied until the closed loop gain response at F.sub.CL is equal to one. The procedure is performed with the rotor locked.

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